SELECT 
  cscart_ult_product_prices.product_id, 
  MIN(
    IF(
      cscart_ult_product_prices.percentage_discount = 0, 
      cscart_ult_product_prices.price, 
      cscart_ult_product_prices.price - (
        cscart_ult_product_prices.price * cscart_ult_product_prices.percentage_discount
      )/ 100
    )
  ) AS price 
FROM 
  cscart_ult_product_prices 
WHERE 
  cscart_ult_product_prices.product_id IN (
    1831, 1839, 1830, 1838, 1833, 1837, 1846, 
    1217, 951, 471, 469, 483, 473, 474, 481, 
    479, 1190, 1193, 943, 1156, 944, 803, 
    1904, 1165
  ) 
  AND cscart_ult_product_prices.lower_limit = 1 
  AND cscart_ult_product_prices.company_id = 1 
  AND cscart_ult_product_prices.usergroup_id IN (0, 0, 1) 
GROUP BY 
  cscart_ult_product_prices.product_id

Query time 0.00088

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "1.20"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "table": {
        "table_name": "cscart_ult_product_prices",
        "access_type": "ref",
        "possible_keys": [
          "usergroup",
          "product_id",
          "company_id",
          "lower_limit",
          "usergroup_id"
        ],
        "key": "company_id",
        "used_key_parts": [
          "company_id"
        ],
        "key_length": "4",
        "ref": [
          "const"
        ],
        "rows_examined_per_scan": 1,
        "rows_produced_per_join": 0,
        "filtered": "50.00",
        "index_condition": "(`eshopuga_upgr_4122`.`cscart_ult_product_prices`.`company_id` <=> 1)",
        "cost_info": {
          "read_cost": "1.00",
          "eval_cost": "0.10",
          "prefix_cost": "1.20",
          "data_read_per_join": "16"
        },
        "used_columns": [
          "product_id",
          "price",
          "percentage_discount",
          "lower_limit",
          "company_id",
          "usergroup_id"
        ],
        "attached_condition": "((`eshopuga_upgr_4122`.`cscart_ult_product_prices`.`lower_limit` = 1) and (`eshopuga_upgr_4122`.`cscart_ult_product_prices`.`product_id` in (1831,1839,1830,1838,1833,1837,1846,1217,951,471,469,483,473,474,481,479,1190,1193,943,1156,944,803,1904,1165)) and (`eshopuga_upgr_4122`.`cscart_ult_product_prices`.`usergroup_id` in (0,0,1)))"
      }
    }
  }
}